1. Combining Temporal Logic Path Planning with Sampling based Path Planning Hadas Kress-Gazit

2. Overview Given an environment Given an initial position Given a specification in temporal logic Find a path that satisfies the specification SPEC: ”Go to 1, then go to 2, then cover 3,4,5 – all this while avoiding 6,7” 1 2 3 4 5 67

3. Approach Partition the environment into cells Create a graph (Roadmap) Use model checking tools to find the path Currently – the environment is partitioned manually This project – use sampling based methods to create the roadmap

4. Adding the sampling The user specifies points of interest and an initial position A graph (roadmap) is automatically generated using sampling based methods Model checking tools are used to find the path SPEC: ”Go to blue, then go to white, then go to purple – all this while avoiding yellow”